Media captionThe SpaceX rocket was launched from the Kennedy Space Center in Florida

Private rocket firm SpaceX has successfully launched a rocket carrying a cargo ship for the International Space Station following the postponement of take-off on Saturday because of technical problems.

Witnesses said the rocket was only briefly visible before making its way into the clouds.

The launch was made from the Kennedy Space Center in Florida.

The rocket booster successfully landed nine minutes after taking off.

The touchdown is part of the company's strategy of returning rockets to earth so they can be reused rather than jettisoning them in the ocean after a single launch.